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Commit bc6cfc83 authored by Simon Gabl's avatar Simon Gabl
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Remove deprecated shutdown timeout.

parent b80e94b0
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with 10 additions and 11 deletions
...@@ -14,7 +14,7 @@ ...@@ -14,7 +14,7 @@
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" /> <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
<node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller --shutdown-timeout 2"/> <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen"> <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" /> <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
......
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
</include> </include>
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="cartesian_impedance_example_controller --shutdown-timeout 2"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="cartesian_impedance_example_controller"/>
<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz"/> <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz"/>
<node name="interactive_marker" pkg="franka_example_controllers" type="interactive_marker.py" required="true" output="screen" /> <node name="interactive_marker" pkg="franka_example_controllers" type="interactive_marker.py" required="true" output="screen" />
<node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" /> <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />
......
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
</include> </include>
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="cartesian_pose_example_controller --shutdown-timeout 2"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="cartesian_pose_example_controller"/>
<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
</group> </group>
</launch> </launch>
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
</include> </include>
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="cartesian_velocity_example_controller --shutdown-timeout 2"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="cartesian_velocity_example_controller"/>
<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
</group> </group>
</launch> </launch>
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
</include> </include>
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="force_example_controller --shutdown-timeout 2"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="force_example_controller"/>
<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/> <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
<node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" /> <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />
</group> </group>
......
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
</include> </include>
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_impedance_example_controller --shutdown-timeout 2"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_impedance_example_controller"/>
<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
</group> </group>
</launch> </launch>
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
</include> </include>
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_position_example_controller --shutdown-timeout 2"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_position_example_controller"/>
<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
</group> </group>
</launch> </launch>
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
</include> </include>
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_velocity_example_controller --shutdown-timeout 2"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_velocity_example_controller"/>
<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
</group> </group>
</launch> </launch>
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
</include> </include>
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="model_example_controller --shutdown-timeout 2"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="model_example_controller"/>
<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/> <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
</group> </group>
</launch> </launch>
...@@ -199,7 +199,6 @@ void JointImpedanceExampleController::update(const ros::Time& /*time*/, ...@@ -199,7 +199,6 @@ void JointImpedanceExampleController::update(const ros::Time& /*time*/,
for (size_t i = 0; i < 7; ++i) { for (size_t i = 0; i < 7; ++i) {
last_tau_d_[i] = tau_d[i] + gravity[i]; last_tau_d_[i] = tau_d[i] + gravity[i];
} }
return;
} }
} // namespace franka_example_controllers } // namespace franka_example_controllers
......
...@@ -5,7 +5,7 @@ ...@@ -5,7 +5,7 @@
<arg name="controller" default="position" /> <arg name="controller" default="position" />
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg controller)_joint_trajectory_controller --shutdown-timeout 2"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg controller)_joint_trajectory_controller"/>
<include file="$(find panda_moveit_config)/launch/move_group.launch" /> <include file="$(find panda_moveit_config)/launch/move_group.launch" />
</group> </group>
</launch> </launch>
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